remap topic name in lanuch

Signed-off-by: Takamasa Horibe <horibe.takamasa@gmail.com>
autowarefoundation · Jul 8, 2022 · 2c61185 · 2c61185
1 parent 163aac3
commit 2c61185
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diff --git a/launch/tier4_control_launch/launch/control.launch.py b/launch/tier4_control_launch/launch/control.launch.py
@@ -65,6 +65,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/reference_trajectory", "/planning/scenario_planning/trajectory"),
             ("~/input/current_odometry", "/localization/kinematic_state"),
             ("~/input/current_steering", "/vehicle/status/steering_status"),
+            ("~/input/current_accel", "/localization/acceleration"),
             ("~/output/predicted_trajectory", "lateral/predicted_trajectory"),
             ("~/output/lateral_diagnostic", "lateral/diagnostic"),
             ("~/output/slope_angle", "longitudinal/slope_angle"),

diff --git a/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py b/...aunch/launch/scenario_planning/lane_driving/behavior_planning/behavior_planning.launch.py
@@ -366,6 +366,7 @@ def launch_setup(context, *args, **kwargs):
             ("~/input/path_with_lane_id", "path_with_lane_id"),
             ("~/input/vector_map", "/map/vector_map"),
             ("~/input/vehicle_odometry", "/localization/kinematic_state"),
+            ("~/input/acceleration", "/localization/acceleration"),
             ("~/input/dynamic_objects", "/perception/object_recognition/objects"),
             (
                 "~/input/no_ground_pointcloud",

diff --git a/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py b/...ng_launch/launch/scenario_planning/lane_driving/motion_planning/motion_planning.launch.py
@@ -155,6 +155,7 @@ def launch_setup(context, *args, **kwargs):
                 "/planning/scenario_planning/clear_velocity_limit",
             ),
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
+            ("~/input/acceleration", "/localization/acceleration"),
             (
                 "~/input/pointcloud",
                 "/perception/obstacle_segmentation/pointcloud",
@@ -193,6 +194,7 @@ def launch_setup(context, *args, **kwargs):
         remappings=[
             ("~/input/trajectory", "obstacle_avoidance_planner/trajectory"),
             ("~/input/odometry", "/localization/kinematic_state"),
+            ("~/input/acceleration", "/localization/acceleration"),
             ("~/input/objects", "/perception/object_recognition/objects"),
             ("~/output/trajectory", "/planning/scenario_planning/lane_driving/trajectory"),
             ("~/output/velocity_limit", "/planning/scenario_planning/max_velocity_candidates"),